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Some will depend on how you control the motors. If you use PWM then something like the i2cpwm_board package (http://bradanlane.gitlab.io/ros-i2cpwmboard) lets you control standard RC servos directly as well as DC motors via PWM motor controllers.

If you need encoders for the drive wheels or for joints, that adds to the solution. (I2cpwm_board does not support encoders.)

Some will depend on how you control the motors. If you use PWM then something like the i2cpwm_board package (http://bradanlane.gitlab.io/ros-i2cpwmboard) lets you control standard RC servos directly as well as DC motors via PWM motor controllers.controllers. The i2cpwm_board package was developed for RPi projects.

If you need encoders for the drive wheels or for joints, that adds to the solution. (I2cpwm_board does not support encoders.)